from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch import LaunchDescription

def generate_launch_description():
    ld =  LaunchDescription()

    ld.add_action(ComposableNodeContainer(
        name='a_buncha_nodes',
        namespace='',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=[
            ComposableNode(
                package='cpp_pubsub',
                plugin='MinimalPublisher',
                name='talker',
                # ..
                #extra_arguments=[{'use_intra_process_comms': True}],
                ),
            ]
        ))

    return ld
